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IEEE International Conference on System of systems engineering (SoSE)

作者： Anjan Kumar Ray Meenakshi Gupta Laxmidhar Behera Mo Jamshidi Department of Electrical Engineering Indian Institute of Technology Kanpur Uttar Pradesh India School of Computing and Intelligent Systems University of Ulster UK University of Technology San Antonio TX USA

In this paper, a sonar based navigation scheme for autonomous automatic guided vehicle (AGV) is proposed considering the physical placement, ranging limits and beam opening angles of sonars. A geometrical modeling of navigation path in an unknown environment is presented. A simple 2D axis transformation is proposed to relate local robot frame with the actual environment. Forward safe path (FSP) and target switching approach (TSA) are proposed for efficient obstacle avoidance and target tracking. FSP simplifies the environment conditions and provides minimum turning path during obstacle avoidance. TSA gives highest priority on the target location during obstacle avoidance and generates minimum distance path towards the target, removing unnecessary turning of the AGV. A scheme for target directional motion is proposed to get minimum turning path towards the target. These methods ensure the avoidance of dasiadead cyclepsila problem and generate dasiaoscillationpsila free navigation. These schemes are successfully implemented on a model of PatrolBottrade from ActivMedia Robotics.

关键词： Sonar navigation Remotely operated vehicles Mobile robots Turning Robot kinematics Target tracking Robotics and automation Robot sensing systems intelligent systems intelligent vehicles

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Multi-domain robotic swarm communication system

2008 IEEE International Conference on System of Systems Engi...

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2008 IEEE International Conference on System of systems engineering, SoSE 2008 2008年

作者： Benavidez, Patrick Nagothu, Kranthimanoj Ray, Anjan Kumar Shaneyfelt, Ted Kota, Srinath Behera, Laxmidhar Jamshidi, Mo ACE Center Dept. of Electrical and Computer Engineering University of Texas San Antonio United States Department of Electrical Engineering Indian Institute of Technology Kanpur India School of Computing and Intelligent Systems University of Ulster Magee Campus United Kingdom

ISBN: (纸本)9781424421732

As swarm of robots from different domains works together in a System of systems, the need arises for interswarm communication. This paper presents a viable solution for robotic swarm communication and navigation for different autonomous applications. Communication is achieved through ZigBee Radio Modems and an expandable protocol to accommodate different types of data. This proposed communication system also allows dynamic swarm expansion, where a new member can be added to the swarm family. It is a complementary approach for task coordination and navigation. Navigation is an important issue to accomplish the coordination of tasks in a swarm of robots. Different environmental issues, related to navigation, have been discussed and are presented through simulation results and the real-time communication test is presented through the experimental result. © 2008 IEEE.

关键词： Swarm intelligence

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Multi-domain robotic swarm communication system

Multi-domain robotic swarm communication system

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IEEE International Conference on System of systems engineering (SoSE)

作者： Patrick Benavidez Kranthimanoj Nagothu Anjan Kumar Ray Ted Shaneyfelt Srinath Kota Laxmidhar Behera Mo Jamshidi ACE Center University of Texas San Antonio USA Department of Electrical Engineering Indian Institute of Technology Kanpur India School of Computing and Intelligent Systems University of Ulster Magee Campus UK

As swarm of robots from different domains works together in a system of systems, the need arises for inter-swarm communication. This paper presents a viable solution for robotic swarm communication and navigation for different autonomous applications. Communication is achieved through ZigBee radio modems and an expandable protocol to accommodate different types of data. This proposed communication system also allows dynamic swarm expansion, where a new member can be added to the swarm family. It is a complementary approach for task coordination and navigation. Navigation is an important issue to accomplish the coordination of tasks in a swarm of robots. Different environmental issues, related to navigation, have been discussed and are presented through simulation results and the real-time communication test is presented through the experimental result.

关键词： Robot kinematics Humans Robot sensing systems Radio navigation intelligent robots Modems Switches Collaborative work Insects Mobile communication

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Sonar based Autonomous Automatic Guided Vehicle (AGV) navigation

2008 IEEE International Conference on System of Systems Engi...

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2008 IEEE International Conference on System of systems engineering, SoSE 2008 2008年

作者： Ray, Anjan Kumar Gupta, Meenakshi Behera, Laxmidhar Jamshidi, Mo Department of Electrical Engineering Indian Institute of Technology Kanpur 208016 UP India School of Computing and Intelligent Systems University of Ulster Magee Campus United Kingdom University of Texas San Antonio and the ACE Center TX 78249 United States

ISBN: (纸本)9781424421732

In this paper, a sonar based navigation scheme for Autonomous Automatic Guided Vehicle (AGV) is proposed considering the physical placement, ranging limits and beam opening angles of sonars. A geometrical modeling of navigation path in an unknown environment is presented. A simple 2-D axis transformation is proposed to relate local robot frame with the actual environment. Forward Safe Path (FSP) and Target Switching Approach (TSA) are proposed for efficient obstacle avoidance and target tracking. FSP simplifies the environment conditions and provides minimum turning path during obstacle avoidance. TSA gives highest priority on the target location during obstacle avoidance and generates minimum distance path towards the target, removing unnecessary turning of the AGV. A scheme for target directional motion is proposed to get minimum turning path towards the target. These methods ensure the avoidance of 'dead cycle' problem and generate 'oscillation' free navigation. These schemes are successfully implemented on a model of PatrolBot from ActivMedia Robotics. © 2008 IEEE.

关键词： Automatic guided vehicles

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Reconfigurable platforms and the challenges for large-scale implementations of spiking neural networks

Reconfigurable platforms and the challenges for large-scale ...

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International Conference on Field Programmable Logic and Applications

作者： Jim Harkin Fearghal Morgan Steve Hall Piotr Dudek Thomas Dowrick Liam McDaid Bio-Inspired Electronics Reconfigurable Computing Group NUI Galway Ireland Intelligent Systems Research Centre University of Ulster UK Institute for Nanoscale Science Engineering & Technology University of Liverpool UK School of Electrical and Electronic Engineering University of Manchester Institute of Science and Technology UK

FPGA devices have witnessed popularity in their use for the rapid prototyping of biological Spiking Neural Network (SNNs) applications, as they offer the key requirement of reconfigurability. However, FPGAs do not efficiently realise the biological neuron/synaptic models. Also their routing structures cannot accommodate the high levels of neuron inter-connectivity inherent in complex SNNs. This paper highlights and discusses the current challenges of implementing large scale SNNs on reconfigurable FPGAs. The paper presents a novel Field Programmable Neural Network (FPNN) architecture incorporating low power analogue synapse and a network on chip architecture for SNN routing and configuration. Initial results are presented.

关键词： Neurons Tiles Computer architecture Field programmable gate arrays Biology Hardware Integrated circuit interconnections

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Securing Information Content using New Encryption Method and Steganography

Securing Information Content using New Encryption Method and...

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International Conference on Digital Information Management (ICDIM)

作者： Abbas Cheddad Joan Condell Kevin Curran Paul Mc Kevitt School of Computing and Intelligent Systems Faculty of Computing and Engineering Londonderry BT48 7JL Northern Ireland United Kingdom

ISBN: (纸本)9781424429165

This paper proposes a novel encryption method with password protection based on an extended version of SHA-1 (Secure Hash Algorithm) that is able to encrypt 2D bulk data such as images. There has been a modest research in the literature on encryption of digital images though. The algorithm benefits also from the conjugate symmetry exhibited in what is termed, herein, an Irreversible Fast Fourier Transform (IrFFT). The proposed encryption method is a preprocessing phase which aims at increasing the robustness of Image Steganography against hackers. This scenario lays down a multi layer of security which forms a strong shield, against eavesdroppers, that is impossible to break. Both Shannon law requirements are met and results show promising results.

关键词： cryptography Steganography Digital images Secure Hashing Algorithm

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A net-structure tactile sensor covering freeform surface with reduced wiring

A net-structure tactile sensor covering freeform surface wit...

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SICE Annual Conference

作者： Makoto Shimojo Takuma Arakil Masahiro Teranishi Aigou Ming Masatoshi Ishikawa Mechanical Engineering and Intelligent Systems The University of Electro-Communications Chofu-shi JAPAN Denki Tsushin Daigaku Chofu Tokyo JP Department of Information Physicsand Computing Graduate School of Information Science and Technology University of Tokyo Bunkyo Tokyo Japan Department of Information Physics and Computing The University of Tokyo Bunkyo-ku Tokyo Japan

ISBN: (纸本)9784907764296

A tactile sensor is developed with the aim of covering a robotpsilas entire structure, while reducing wiring requirement and ensuring high-speed response. There are only 4 signal wires from the sensor. The sensor response time is nearly constant (within 1 ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described.

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Identifying Local Ultrametricity of EEG Time Series for Feature Extraction in a Brain-Computer Interface

Identifying Local Ultrametricity of EEG Time Series for Feat...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Damien Coyle Thomas M. McGinnity Girijesh Prasad Intelligent Systems Research Center School of Computing and Intelligent Systems Faculty of Engineering University of Ulster Londonderr UK

The accurate discrimination of EEG times-series is a challenging problem and has become a topic of prominent research interest, given the extent of the research activity in the area of brain-computer interface (BCI) technology. Many signal processing algorithms involving preprocessing, feature extraction/selection, and classification have been deployed and yet, the most appropriate and robust solutions are still being sought. This paper presents an analysis of a new methodology for feature extraction in a BCI which is based on identifying the extent of ultrametricity from EEG time-series. This work is inspired by the idea that there are natural, not necessarily unique, tree or hierarchy structures defined by the ultrametric topology of EEG time-series. The objective is to determine if coefficients which reflect the extent of ultrametricity can be used as distinct features of different EEG time series, recorded whilst subjects imagine left/right hand movements (motor imagery(MI)). The results show that MI based EEG time-series can be separated using a local ultrametricity quantifier and a linear discriminant classifier or Bayes classifier. Also, it is shown that neural-time-series-prediction-preprocessing (NTSPP) produces a higher dimensional space in which local ultrametricity is more separable for two classes of EEG signals.

关键词： Electroencephalography Feature extraction Brain computer interfaces Extraterrestrial measurements Time series analysis Robustness Signal processing Speech Handicapped aids Communication standards

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Characterising Range Image Features via Gradient Operators

Characterising Range Image Features via Gradient Operators

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International Conference on Image Analysis and Processing

作者： Sonya Coleman Shanmugalingam Suganthan Bryan Scotney School of Computing and Intelligent Systems University of Ulster Magee UK School of Computing and Information Engineering University of Ulster Coleraine UK

Real-time extraction of features from range images can play an important role in computer vision tasks such as localisation and navigation. Developing operators that can characterise features in a range image, such as jump, crease, or smooth edges, is challenging, due to both the irregular spatial distribution of range image data and the nature of the features themselves. We present adaptive gradient operators that can automatically change shape to accommodate irregular data distribution; through appropriate analysis of the output responses, we show that the operators can also be specialised to characterise particular types of range image features.

关键词： Image edge detection Computer vision Image segmentation Data mining Feature extraction Layout Object recognition Image sensors intelligent systems Real time systems

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Solution to the Generalized Champagne Problem on simultaneous stabilization of linear systems

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Science in China(Series F) 2007年第5期50卷 719-731页

作者： GUAN Qiang WANG Long XIA BiCan YANG Lu YU WenSheng ZENG ZhenBing Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Center for Systems and Control College of Engineering Peking University Beijing 100871 China LMAM and School of Mathematical Sciences Peking University Beijing 100871 China Shanghai Institute of Theoretical Computing Software Engineering Institute East China Normal University Shanghai 200062 China National Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China

The well-known Generalized Champagne Problem on simultaneous stabilization of linear systems is solved by using complex analysis and Blonders technique. We give a complete answer to the open problem proposed by Patel et al., which automatically includes the solution to the original Champagne Problem. Based on the recent development in automated inequality-type theorem proving, a new stabilizing controller design method is established. Our numerical examples significantly improve the relevant results in the literature.

关键词： linear systems stabilization simultaneous stabilization Champagne Problem Generalized Champagne Problem,complex analysis inequality-type theorem automated theorem proving

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